考虑重力影响的柔性空间机械臂输出约束自适应PID容错控制  

Adaptive PID fault-tolerant control with output constraints for flexible space robotic arms considering the influence of gravity

作　　者：王苏杭 刘福才[1,2] WANG Suhang;LIU Fucai(Engineering Research Center of Ministry of Education for Intelligent Control System and Intelligent Equipment,Yanshan University,Qinhuangdao 066004;Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学智能控制系统与智能装备教育部工程研究中心,秦皇岛066004 [2]燕山大学河北省工业计算机控制工程重点实验室,秦皇岛066004

出　　处：《高技术通讯》2024年第9期960-971,共12页Chinese High Technology Letters

基　　金：载人航天领域预研(2016040301);省级重点实验室绩效补助经费(22567612H);河北省自然科学基金(F2022203043)资助项目。

摘　　要：针对存在执行器故障的柔性空间机械臂轨迹跟踪问题,本文提出了一种基于奇异摄动的输出约束自适应比例积分微分(PID)容错控制策略。利用奇异摄动的方法和原理,将柔性空间机械臂控制系统解耦为快、慢子系统。慢子系统控制策略将执行器故障处理为符号固定但大小不固定的未知控制方向问题,并采用努斯鲍姆函数处理此问题,同时利用障碍李雅普诺夫函数(BLF)约束输出;快子系统中加入阻尼项抑制震荡。利用李雅普诺夫(Lyapunov)函数和相关定理证明了控制策略的稳定性。仿真结果表明,当系统受到执行器故障和变化的重力加速度影响时,控制策略可以使柔性空间机械臂精确地跟踪目标轨迹。This paper proposes an output constrained adaptive proportional integral derivative(PID)fault-tolerant control strategy based on singular perturbation to address the trajectory tracking problem of space flexible robotic arms with actuator faults.Using the method and principle of singular perturbation,the control system of a space flexible robotic arm is decoupled into fast and slow subsystems.The slow subsystem control strategy treats actuator faults as an unknown control direction problem with fixed symbols but not fixed sizes,and uses the Nussbaum function to handle this problem,while using the barrier Lyapunov function(BLF)to constrain the output;add a damping term to the fast subsystem to suppress oscillations.The stability of the control strategy has been proven using Lyapunov functions and related theorems.The simulation results show that when the system is affected by actuator faults and varying gravitational accelerations,the control strategy can enable the flexible space manipulator to accurately track the target trajectory.

关 键 词：空间机械臂 奇异摄动 自适应 努斯鲍姆函数 障碍李雅普诺夫函数(BLF) 容错控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]